Robust model predictive tracking control for the wheeled mobile robot with boundary uncertain based on linear matrix inequalities

Robust Constrained Model Predictive Control by Linear Matrix Inequalities

Finite Horizon Robust Model Predictive Control Using Linear Matrix Inequalities

In this paper, we develop a finite horizon model predictive control algorithm which is robust to model uncertainties. A moving average system matrix is constructed to capture model uncertainties and facilitate future output predictions. The paper is focused on step tracking control. Using linear matrix inequality techniques, the design is converted into a semi-definite optimization problem. Clo...

Robust constrained model predictive control using linear matrix inequalities,

The primary disadvantage of current design techriiques for xriodel predictive control (MPC) is their inability to deal explicitly with plant model uncertainty. In this paper, we present a new approacli for robust MPC synthesis which allows explicit irlcorporation of the description of pla,nt uricertainty in the problem formulation. The uncertainty is expressed both in the time domain and the fr...

Lyapunov-Based Tracking Control for Nonholonomic Wheeled Mobile Robot

Abstract—This paper presents a tracking control strategy based on Lyapunov approach for nonholonomic wheeled mobile robot. This control strategy consists of two levels. First, a kinematic controller is developed to adjust the right and left wheel velocities. Using this velocity control law, the stability of the tracking error is guaranteed using Lyapunov approach. This kinematic controller cann...

Automatic Offline Formulation of Robust Model Predictive Control Based on Linear Matrix Inequalities Method

and Applied Analysis 3 The input and output constraints are satisfied if there exists symmetric matrixX and Y such that [ X ∗ Y T Q ] ≥ 0 with X rr ≤ u 2 r,max, r = 1, 2, . . . , m,